cv::Matx<double, 4, 4> M(1, 0, 0, -0,
0, 1, 0, -0,
0, 0, 1, -0,
0, 0, 0, 1);
cv::Matx <double, 6, 1> new_M = MultiColSLAM::hom2cayley(M);
std::cout << "new_M" << std::endl << new_M;
cv::Matx<double, 4, 4> M_1(0.996106, 0.0756512, -0.0452821 , -0.0524029,
-0.0781092, 0.995414, -0.0552253, 0.00149068,
0.0408966, 0.0585472, 0.997447 , -0.00192105,
0, 0, 0, 1 );
cv::Matx <double, 6, 1> new_M_1 = MultiColSLAM::hom2cayley(M_1);
std::cout << "new_M_1" << std::endl << new_M_1;
multi-camera-
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转载自blog.csdn.net/qq_21950671/article/details/91865252
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